On State Observers for Nonlinear Systems: A New Design and a Unifying Framework

In this paper, we propose a new state observer design technique for nonlinear systems. It combines the well-known Kazantzis-Kravaris-Luenberger observer and the recently introduced parameter estimation-based observer, which become special cases of it-extending the realm of applicability of both methods. A second contribution of this paper is the proof that these designs can be recast as particular cases of immersion and invariance observers-providing in this way a unified framework for their analysis and design. Simulation results of a physical system that illustrates the superior performance of the proposed observer compared to other existing observers are presented.